CN103917411A - Method and device for grouping lighting units - Google Patents
Method and device for grouping lighting units Download PDFInfo
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- CN103917411A CN103917411A CN201280053639.5A CN201280053639A CN103917411A CN 103917411 A CN103917411 A CN 103917411A CN 201280053639 A CN201280053639 A CN 201280053639A CN 103917411 A CN103917411 A CN 103917411A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/33—Driving situation
- B60Q2300/332—Driving situation on city roads
- B60Q2300/3321—Detection of streetlights
Abstract
The invention relates to a method (200) for determining a group (138) of at least two adjacent lighting units (125a, 125b) during the travel of a vehicle (100). The method (200) comprises a step of recognizing (210) at least one first (125a) and at least one second (125b) lighting unit in a detection region (120) of a sensor (110) and recognizing a subsequent exiting of the first lighting unit (125a) out of the detection region (120) of the sensor (110). The method (200) further comprises a step of detecting (220) a section and/or a time that the vehicle (100) travels after the first lighting unit (125a) exits the detection region (120) of the sensor (110) until the second lighting unit (125b) exits the detection region (120) of the sensor (110). Finally, the method (200) according to the invention comprises a step of grouping (230) the first (125a) and second (125b) lighting units into the group (138) of at least two adjacent lighting units if the section has a predetermined relationship to a section threshold (400) and/or if the time has a predetermined relationship to a time threshold.
Description
Technical field
The present invention relates to a kind of for ask for the method for the group being formed by the lighting unit of at least two adjacent settings, a kind of corresponding equipment and a kind of corresponding computer program during Vehicle Driving Cycle.
Background technology
Identify continuous road illumination (below also referred to as " city identification ") is important for the auxiliary exploitation of distance light.Auxiliary for (adaptive) distance light, the in the situation that of continuous road illumination, should not open distance light.Therefore, also must the illuminated road in identification extramural, city.To replace " identifying continuous road illumination ", to use term " city identification " in order simplifying.A kind of such urban lighting identification is disclosed in DE10 2,009 028 342A1.DE10 2,009 028 342A1 describe a kind of for determining a method whether area is illuminated.Described methods analyst is processed the view data of pick up camera.When recognize at least two static road illumination unit according to view data and in the time that these reason lighting units have a spatial separation each other, described area is evaluated as to " illuminated ".
The basis of city identification is the detection of the multiple street lamps in certain distance.Once recognize at least two street lamps on certain hour (distance), produced " city signal " and open dipped beam.Avoid being transformed into prematurely in the pattern of city (open dipped beam or reduce the light emitting area in light cone or track direction), its mode is, the upright position (detection angle) of the street lamp in analyzing and processing image.
On the contrary, at cross walk and illuminated crossing place, should automatically not open dipped beam.
Summary of the invention
Under described background, by the present invention a kind of for ask for the method for the group being formed by the lighting unit of at least two adjacent settings during Vehicle Driving Cycle of main claim that give chapter and verse, a kind of equipment and a kind of corresponding computer program that uses described method.Favourable configuration is drawn by corresponding dependent claims and following explanation.
The present invention realizes a kind of for ask for the method for the group being made up of the lighting unit of at least two adjacent settings during Vehicle Driving Cycle, and wherein said method has following steps:
At least one first lighting unit in the surveyed area of-identification sensor and identify described the first lighting unit and leave from the surveyed area of described sensor subsequently;
-start measuring vehicle from the surveyed area of described sensor, leave the distance of travelling afterwards and/or start the time that measuring vehicle is travelled after described the first lighting unit leaves from the surveyed area of described sensor at described the first lighting unit;
-when until the second lighting unit leaves measured distance and a distance threshold value from the surveyed area of described sensor while having predetermined the relation and/or when until the second lighting unit leaves measured time and a time threshold from the surveyed area of described sensor while having predetermined the relation, described the first lighting unit and described the second lighting unit are grouped in the group being made up of the lighting unit of at least two adjacent settings, and/or, in the time that current measured distance is greater than described distance threshold value and/or in the time that the current measured time is longer than described time threshold, not by single to described the first lighting unit and described the second illumination
Unit is grouped in the group being made up of the lighting unit of at least two adjacent settings.
The present invention also realizes a kind of equipment, and it is configured to implement or realize in corresponding device the step of the method according to this invention.Especially, such equipment has the unit that is configured to each step of carrying out described method.By the enforcement flexible program of apparatus-form of the present invention also can solve fast and efficiently the present invention based on task.
The electric equipment that equipment is interpreted as processes sensor signal and exports accordingly control or data-signal at this.Described equipment can have interface, and described interface can be constructed according to hardware mode and/or according to software mode.According to the structure of hardware mode, interface is for example a part of so-called system ASIC, the difference in functionality that it comprises described equipment.But also possible that, interface is independent integrated circuit or is made up of discrete parts at least in part.According to the structure of software mode, interface can be the software module for example coexisting with other software modules on microcontroller.
The computer program with program element is also favourable, and it can be stored in machine sensible carrier---as in semiconductor memory, harddisk memory or optical memory and for implementing according to the method for one of embodiment described above when the executive routine on computing machine or equipment.
Lighting unit can be considered as in the region in track or building (Infrastructure) measure or the buildings of track edge, and it is radiant light on one's own initiative.For example, such lighting unit can be street lamp, luminous traffic mark or the lamp of traffic signal equipment.The group being made up of the lighting unit of at least two adjacent settings can be understood as bunch (Cluster) of two lighting units that spatially next-door neighbour arranges.At this, lighting unit for example can be arranged on track that track edge or vehicle travel during travelling above or be identified.Sensor for example can be understood as optical pickocff---as pick up camera.Surveyed area is appreciated that as the region by sensor monitoring.Lighting unit from surveyed area, disappear or leave can be understood as when vehicle movement but lighting unit does not move and therefore vehicle (thering is the sensor being arranged in vehicle) lighting unit described in lighting unit is other while crossing from the surveyed area of sensor, leave.The distance of Vehicle Driving Cycle for example can be understood as path (its for example take rice or centimetre measure as unit).Described path is for example determined by the analyzing and processing of the image taken by sensor, can be inferred the speed of vehicle and/or the distance being crossed by vehicle by described image.Alternatively or additionally, for example can use the signal of the wheel speed sensor of vehicle, to infer the speed of vehicle.Determining of the group being made up of the lighting unit of at least two adjacent settings can so be carried out, when making to work as detected distance and a distance threshold value and having predetermined the relation and/or work as when detected time and a time threshold have predetermined the relation the first lighting unit and the second lighting unit are distributed to the group being made up of the lighting unit of at least two adjacent settings.Especially, the distance detecting at this can be less than distance threshold value or time of detecting can be less than time threshold.
The present invention is based on following understanding: now in the case of existing the lighting unit that each can be recognized in the surveyed area of sensor definite standard to be grouped into one group of lighting unit.The present invention provides following advantage now: compared with the analyzing and processing of the lighting unit of only identifying based on each, this group lighting unit is processed speech for the subsequent analysis of the lighting unit recognizing in the surveyed area of sensor can provide more accurately and in more detail inferring of surrounding environment to vehicle, the evaluation aspect aspect especially just travelling or travel with continuous road illumination on the track in sealing dwelling district in track trend or about vehicle.Two street lamps are appreciiables simultaneously but can be closely adjacent to each other without certain in image, for example, in the time that they are positioned at road corner and one of them and are blocked.Advantageously, in the time that crossed distance has been greater than the distance for dividing into groups, without wait for until the second street lamp disappears from surveyed area always.Can react quickly and earlier identify thus continuous road illumination.
Advantageously, according to another embodiment of the present invention, in the step of grouping, in the time that described distance is less than described distance threshold value, the first lighting unit and the second lighting unit are grouped in the group being made up of the lighting unit of at least two settings adjacent one another are, and/or, in the step of grouping, in the time that the described time is less than described time threshold, the first lighting unit and the second lighting unit are grouped in the group being made up of the lighting unit of at least two settings adjacent one another are.This embodiment of the present invention has the following advantages: by using distance threshold value or time threshold to define very exactly from what kind of distance or distance, two lighting units to be grouped into each other described (common) group and/or from what kind of, two lighting units being grouped into described (common) group each other (travelling) time.Thus can adjustment kit containing " the space extension " of the group of corresponding lighting unit.The threshold value using in the method here proposing can be also for example variable and/or can during travelling, mate.
The favourable embodiment of another kind according to the present invention, in the step of grouping, in the time that described distance is greater than described distance threshold value, the first lighting unit and the second lighting unit are not grouped in the group being made up of the lighting unit of at least two adjacent settings, and/or, in the step of grouping, in the time that the described time is greater than described time threshold, the first lighting unit and the second lighting unit are not grouped in the group being made up of the lighting unit of at least two adjacent settings.One embodiment of the present invention provide following advantage: have clearly standard, from what kind of the distance of travelling between the first lighting unit and the second lighting unit and/or from what kind of the first lighting unit from the surveyed area of sensor, leave and the second lighting unit from (travelling) time of process between leaving the surveyed area of sensor, should more described at least two lighting units be grouped in (common) group.Can guarantee thus: sensor image with post-processing in, two lighting units be also regarded as (spatially enough each other) separate or away from lighting unit.
When measure distance and/or time length from the first lighting unit leaves time, obtain a kind of particularly advantageous embodiment.When the distance from the first illumination equipment leaves is greater than distance threshold value and/or the time from the first illumination equipment leaves be greater than time threshold (wherein the second illumination equipment is without leaving) from the surveyed area of sensor time, in the step of grouping, or not first lighting unit and the second lighting unit are not grouped in the group of two adjacent illumination equipments.Total system can react two illumination equipments of the group that cannot sum up into adjacent illumination equipment before the second illumination equipment disappears from surveyed area thus.For example, can identify continuous road illumination so early and for example be transformed into dipped beam from distance light.
In addition, following embodiment of the present invention is favourable: in the step of identification, identify the 3rd lighting unit, wherein in the step of grouping when leaving the surveyed area of vehicle from the first lighting unit from sensor until the 3rd lighting unit leaves when another distance of travelling and described distance threshold value have predetermined the relation from the surveyed area of sensor that described the 3rd lighting unit is grouped in the group being made up of the lighting unit of at least two adjacent settings.Alternatively or additionally, in the step of grouping, when leaving the surveyed area of vehicle from the first lighting unit from sensor until the 3rd lighting unit leaves when time of travelling and described time threshold have predetermined the relation from the surveyed area of sensor that described the 3rd lighting unit is grouped in the group being made up of the lighting unit of at least two adjacent settings.This embodiment of the present invention provides following advantage: when lighting unit is spatially or while being considered as being closely adjacent to each other leaving the surveyed area of aspect from the first lighting unit from sensor in motion, also can will be grouped into more than two lighting units in (common) lighting unit group.Therefore also can be in continuation is subsequently processed explain or be evaluated as unique lighting unit by what be spatially close to setting more than two lighting units of identifying.By described mode reduce analyzing and processing identify by sensor each lighting unit time mistake.
In addition, following embodiment of the present invention is favourable: in the step of identification, identify the 3rd lighting unit, wherein in the step of grouping when leaving the surveyed area of vehicle from the first lighting unit from sensor until the 3rd lighting unit does not leave when another distance of travelling and described distance threshold value do not have predetermined the relation from the surveyed area of sensor described the 3rd lighting unit is not grouped in the group being made up of the lighting unit of at least two adjacent settings.Alternatively or additionally, in the step of grouping, when leaving the surveyed area of vehicle from the first lighting unit from sensor until the 3rd lighting unit does not leave when time of travelling and described time threshold do not have predetermined the relation from the surveyed area of sensor described the 3rd lighting unit is not grouped in the group being made up of the lighting unit of at least two adjacent settings.This embodiment of the present invention provides following advantage: have clearly standard, which lighting unit is summed up into one group and other lighting units which is identified and be no longer grouped into described lighting unit group.Can realize equally identified lighting unit or be grouped into the improvement of the result in further the processing subsequently of lighting unit of a group by described mode.
If recognize the 3rd lighting unit but be greater than a distance threshold value and/or described the 3rd lighting unit be not grouped into the group being made up of at least two adjacent lighting units from the first lighting unit leaves in the time that the time passing is greater than a time threshold when the distance crossing from the first lighting unit leaves, wherein the 3rd lighting unit continuation is visible, can realize the particularly advantageous embodiment of one of the present invention.By not waiting for that the 3rd lighting unit leaves, can react the existence of multiple lighting units quickly, for example can the in the situation that of continuous road illumination, open quickly thus dipped beam.
Particularly advantageously, propose a kind ofly for identifying along the method for the treatment of by the continuous track illumination in the track of Vehicle Driving Cycle according to another embodiment of the invention, described method has following steps:
-detect the lighting unit of at least one single lighting unit and one group of at least two adjacent setting, as it is asked for according to the method for one of flexible program described above by execution;
-lighting unit of at least two adjacent settings of this group is evaluated as to a single lighting unit;
-identify the illumination of continuous track in the case of using described single lighting unit and being be evaluated as the lighting unit of at least two adjacent settings of this group of single lighting unit.
This embodiment of the present invention has the following advantages: be especially be evaluated as unique (may " large ") lighting unit during when the lighting unit spatially closely arranging is not be evaluated as multiple independent (separating) lighting units, can reduce significantly thus the wrong possibility in the time processing the lighting unit of being identified by sensor.
Particularly advantageously, according to another embodiment of the invention, in the step of identification, when vehicle is being evaluated as predetermined the travelling when distance and/or predetermined running time of travelling between the position of lighting unit of one group of at least two adjacent setting of single lighting unit and the position of single lighting unit, identify the existence of continuous track illumination.Alternatively or additionally, in the step of identification, when vehicle is in the position of single lighting unit and be evaluated as predetermined the travelling when distance and/or predetermined running time of travelling between the position of lighting unit of one group of at least two adjacent setting of single lighting unit, identify the existence of continuous track illumination.This embodiment of the present invention provides following advantage: with compared with separating the situation that can realize while observing each single lighting unit, consider that one group of multiple lighting unit and independent lighting unit can realize the wrong possibility significantly reducing in the time determining the existing of continuous track illumination.
Following embodiment of the present invention is particularly advantageous: propose a kind ofly for controlling the photoemissive method of at least one head light of vehicle, wherein said method has following steps:
-according to one of flexible program described above identification continuous track illumination;
-change the light transmitting of at least one head light of vehicle in response to the existence of the lighting unit of one group of asked at least two adjacent setting, especially wherein carry out the photoemissive change of at least one head light of vehicle in the following moment: described moment and this appearance of asking for of organizing the lighting unit of at least two adjacent settings have predetermined relation.
This embodiment of the present invention provides following advantage: can realize thus the more slight error possibility when inferred the illumination of continuous track by identified lighting unit and therefore can realize (in time and spatially) light transmitting being matched with more accurately and in fact treating the surrounding environment that crossed by vehicle.
Accompanying drawing explanation
Below exemplarily elaborate with reference to the accompanying drawings the present invention.Accompanying drawing illustrates:
Fig. 1: the block diagram of vehicle, wherein uses embodiments of the invention;
Fig. 2: the diagram of circuit of the embodiment as method of the present invention;
Fig. 3: the schematic diagram that comprises vehicle, the viewing area of pick up camera and the exemplary scenario of multiple street lamps with pick up camera;
Fig. 4: comprise another schematic diagram of vehicle, the viewing area of pick up camera and the exemplary scenario of street lamp with pick up camera, wherein two street lamps are summed up into one group of lighting unit in analysis and processing unit;
Fig. 5: comprise another schematic diagram of vehicle, the viewing area of pick up camera and the exemplary scenario of street lamp with pick up camera, wherein street lamp is not summed up into one group of lighting unit in the analysis and processing unit of vehicle;
Fig. 6: comprise another schematic diagram of vehicle, the viewing area of pick up camera and the exemplary scenario of street lamp with pick up camera, wherein two street lamps are summed up into one group of lighting unit but the 3rd lighting unit is not grouped into this group lighting unit in the analysis and processing unit of vehicle;
Fig. 7 a-c: the diagram of different lighting conditions, the analyzing and processing of these lighting conditions provides better result in use situation of the present invention compared with not using situation of the present invention.
The specific embodiment
In the following description of the preferred embodiments of the present invention, for shown in different accompanying drawings and act on similar element and use same or similar Reference numeral, be not wherein repeated in this description these elements.
The urban lighting identification of crossing illuminated region (for example crossing the normally such situation of illuminated road of sealing dwelling district) for identifying is disclosed in DE10 2,009 028 342A1.But the cross walk of traffic signal equipment, multiple illumination and the crossing of multiple illumination are located in extremely limited region, aspect, place; Therefore, these regions are also often called non-" continuously " illumination.Conventionally, the differentiation of such traffic zone is very difficult for analyzing and processing algorithm, and exist at night a lot " wrong reports (False-Positives) ", often recognize and cross " city " or the sealing dwelling district with the illumination of continuous track, although in fact the traffic zone of vehicle front only relates to crossing or the traffic signal equipment of cross walk, multiple illumination.
If earlier recognize each light source at cross walk/crossing place of multiple illumination than street lamp independently, the detection time length of the length by multiple street lamps causes the identification of continuous road illumination mistakenly.Conventionally (its mode is not use the light radiation of the head light that prevents vehicle to be transformed into prematurely the built-in safety of " city pattern " at this, upright position (detection angle) in analyzing and processing image), even because also cross under illumination at cross walk, crossing or the traffic signal equipment place of multiple illumination, the upright position of street lamp is enough high thus.
In the time relating to the self luminous stationary object with certain altitude, for example, street lamp may be categorized as thus to such object.Therefore, often traffic signal lamp are also categorized as to street lamp.Aspect measurement or analysis and processing program,, in the time of classification street lamp, be difficult to realize and improve.But, aspect the identification of city, both can in the case of the traffic signal equipment of misclassification, also can in the case of the cross walk of multiple illumination and crossing, reduce significantly wrong report with the expense being applicable to.
Fig. 1 illustrates the block diagram of vehicle, wherein uses embodiments of the invention.At this, Fig. 1 illustrates a vehicle 100, and it comprises as sensor, the pick up camera 110 of optical pickocff especially.For example, in the time that vehicle 100 moves, pick up camera 110 detects and is arranged in the surveyed area 120 of pick up camera or the object in described surveyed area 120 motions.At this, lighting unit 125a and the 125b of pick up camera 110 in can recognition detection region 120, its for example lamp by street lamp, traffic signal equipment etc. forms.In addition, vehicle 100 comprises the analysis and processing unit 130 being connected with pick up camera 110, and it has multiple subelements.Especially, the diagnosis unit 132 of the image being provided by pick up camera 110 for analyzing and processing are provided analysis and processing unit 130, and wherein said diagnosis unit 132 are configured at least one first lighting unit 125a in the surveyed area of identification sensor from the image of pick up camera 110 and at least one second lighting unit 125b and identify subsequently the first lighting unit 125a and leave from the surveyed area 120 of pick up camera 110.In addition, analysis and processing unit 130 comprises detecting unit 134, its be configured in response to the first lighting unit 125a recognized by diagnosis unit 132 from the surveyed area of pick up camera 110, leave to detect until distance and/or the time that the second lighting unit 125b leaves from the surveyed area 120 of sensor or pick up camera 110.At this, detecting unit 134 for example can be connected with another sensing mechanism of vehicle 100, to identify the distance of being travelled by vehicle 100 by revolution or the corner of vehicle that detects vehicle 100.Finally, analysis and processing unit 130 also comprises grouped element 136, it is connected with diagnosis unit 132 and detecting unit 134, and wherein grouped element 136 is configured in the time that described distance and a distance threshold value have predetermined the relation and/or in the time that described time and a time threshold have predetermined the relation, the first lighting unit 125a and the second lighting unit 125b is grouped in the group being made up of the lighting unit of at least two adjacent settings.In addition can consider, when vehicle after the first lighting unit leaves, travelled long enough, while being longer than described threshold value, the second lighting unit not necessarily will leave described surveyed area, to two lighting units are not divided into groups each other.
Therefore, the information as the result output representative of analysis and processing unit 130 by the lighting unit 125a of at least two adjacent settings, group 138 that 125b forms, wherein said group 138 at least comprises the first lighting unit 125a and the second lighting unit 125b.In addition, vehicle comprises the unit 140 for identifying the illumination of continuous track, and wherein said unit 140 is connected with pick up camera 110 and analysis and processing unit 130 in order to identify the illumination of continuous track.Image from being provided by pick up camera 110 is provided extracts corresponding to the lighting unit 125 of the object the surveyed area 120 of pick up camera 110 and lighting unit 125 that analyzing and processing is extracted and grouping knowledge and identification thus (being usually located in sealing dwelling district) track illumination continuously of 138 lighting unit in groups for identifying the unit 140 of continuous track illumination.In addition, vehicle 100 also comprises head light control unit 150, and it is connected with for the unit 140 of identifying the illumination of continuous track and is configured to control the light transmitting by the head light 160 of vehicle 100 in the situation that using following information: vehicle 100 is current to travel at the surrounding environment that has the illumination of continuous track.For example, can so control by the light transmitting of the head light 160 of vehicle 100, make in the time crossing the region with the illumination of identified track the light with distance light pattern transmitting head light 160, providing and be enough to light and not making that illumination is positioned at the track of vehicle front head-on to sail the vehicle driver of the vehicle coming dazzling because pass through identified continuous track illumination simultaneously.
Fig. 2 illustrates the diagram of circuit as the embodiments of the invention of the method 200 for ask for the group being made up of the lighting unit of at least two adjacent settings during Vehicle Driving Cycle.Described method 200 comprises at least one first lighting unit in the surveyed area of identifying 210 sensors and identifies the step that the first lighting unit leaves subsequently from the surveyed area of described sensor.In addition, described method 200 comprises that start to measure 200 vehicles leaves the distance of travelling afterwards and/or start measuring vehicle the step of leaving the time of travelling afterwards at the first lighting unit from the surveyed area of sensor from the surveyed area of sensor at the first lighting unit.Finally, described method 200 comprise in the time that measured until the distance that the second lighting unit leaves from the surveyed area of sensor and a distance threshold value have predetermined the relation and/or in the time that measured until the time that the second lighting unit leaves from the surveyed area of sensor and a time threshold have predetermined the relation by the first lighting unit and the grouping 230 of the second lighting unit in the group being formed by the lighting unit of at least two adjacent settings and/or when in the time that the distance of pre-test is greater than described distance threshold value and/or when the first lighting unit and the second lighting unit are not grouped into the step in the group being made up of the lighting unit of at least two adjacent settings in the time that the time of pre-test is longer than described time threshold.
Therefore, according to one embodiment of present invention, when street lamp or when more generally lighting unit is very near each other, they are summed up into a kind of " illumination bunch " (i.e. the lighting unit of one group of multiple adjacent setting).For this reason, after recognizing street lamp, wait for, until described street lamp disappears again from image always.To sum up into an illumination bunch at all street lamps that disappear from the first street lamp in certain distance from disappearing image.In analyzing and processing subsequently, process illumination bunch, for example, for identifying continuous road illumination, as each street lamp or lighting unit.Can realize thus: the crossing of multiple illumination and cross walk and traffic signal facility are not considered as to " continuously " road illumination mistakenly, but are treated to single " street lamp " or lighting unit (for example single illumination bunch).When identified street lamp is not positioned in accurately identical distance and while having identical height, they disappear when different from image.Therefore select following distance (for example 5-10 rice): the street lamp disappearing is considered as an illumination bunch from image in described distance.
According to one or more different embodiments, the present invention can sum up the cross walk of the street lamp at the crossing of multiple illumination (two-way lamp) and traffic signal equipment (different system heights) and multiple illumination for illumination group (being lighting unit group).Described for example summing up carried out according to the mode of explaining in detail with reference to the following drawings.
Fig. 3 illustrates the schematic diagram that comprises vehicle 100, the viewing area 120 of pick up camera 110 and the scene of street lamp 125 with pick up camera 110.At this, figure 3 illustrates the first street lamp (as the first lighting unit), the second street lamp 125b (as the second lighting unit) and the Third Road lamp 125c (as the 3rd lighting unit) in the region that is arranged in vehicle 100 fronts.In the time of the square upward movement of present vehicle 100 at lighting unit 125, first the first lighting unit 125a, the second lighting unit 125b (with may the 3rd lighting unit 125c) appear in the surveyed area 120 of pick up camera 110 and can be being identified as lighting unit in unshowned analysis and processing unit in Fig. 3.Subsequently, in the time continuing to travel, first leave again the surveyed area 120 of pick up camera 110 from the nearest lighting unit 125a of vehicle 100, contrary the second lighting unit 125b (with the 3rd possible lighting unit 125c) is still identified as being arranged in the surveyed area 120 of pick up camera 110.
After detecting that first (nearest from vehicle 100 at this) lighting unit 125a leaves, detect now vehicle 100 until the second lighting unit 125b also leaves the distance of travelling from the surveyed area 120 of the pick up camera 110 of vehicle 100.This is schematically illustrated in Fig. 4, and wherein vehicle 100 is until the second lighting unit 125b leaves the distance of travelling from surveyed area 120 illustrates below Fig. 4.If the distance that existence detects now and the predetermined relation of a distance threshold value 400 (described distance threshold value is by the length representative of the thick line below Fig. 4), for example described distance is less than described distance threshold value 400, the group 138 of the first lighting unit 125a being divided into groups or summing up into the lighting unit of at least two adjacent settings with the second lighting unit 125b, as schematically illustrated in Fig. 4 in it.The distance that detected can provide following prompting directly or indirectly: the first lighting unit 125a and the second lighting unit 125b are in fact at a distance of how far, because can consider with simply approximate: vehicle leave from the surveyed area 120 of pick up camera 110 at the first lighting unit 125a until the distance that the second lighting unit 125b travels between leaving from the surveyed area 120 of pick up camera 110 corresponding to the first lighting unit 125a and the second lighting unit 125b spacing apart.Therefore, described distance threshold value 400 can be called one and " sum up distance ", be called spacing threshold value, in the time of described spacing threshold value, all other lighting units that arrange subsequently in described spacing threshold value from the first lighting unit 125a are distributed to the group 138 of lighting unit, are grouped into described group 138.Can work as and when the second lighting unit 125b is positioned at apart from the certain distance of the first street lamp 125a (summing up distance at this described in for example), carry out summing up of the first street lamp 125a and the second street lamp 125b by described mode, producing " throw light on bunch ".
Alternatively or additionally, also can detect leaving of identifying the surveyed area 120 of vehicle from the first lighting unit 125a from pick up camera 110 until the second lighting unit 125b from the surveyed area 120 of pick up camera 110, identify leave the passed time.Described time and a time threshold can be compared subsequently, thereby also can infer by described mode the spacing of the first lighting unit 125a and the second lighting unit 125b.But it should be noted that at this described time threshold advantageously should depend on moving velocity, to allow the details as far as possible of the spacing between the first lighting unit and the second lighting unit accurately and accurately to ask for.
In further the processing subsequently of the image of pick up camera 110, for example, in order to control by the light transmitting of one or more head lights 160 of vehicle 110, as it is set forth with reference to figure 1, described group 138 of the lighting unit of adjacent setting can be considered as or be evaluated as now a single lighting unit 125.Can avoid by described mode: will form the possible traffic zone of the greatest danger (for example, in the region of cross walk, larger road cross or traffic signal equipment) and be interpreted as having the track section of continuous track illumination.Because above-described region conventionally for the reason of safety traffic than do not have other dangerous possible regions, track brighter throw light on, so the such grouping by multiple lighting units also can be guaranteed: when vehicle 100 is when having one or more in the above-described region that more high-risk is possible, do not change in short spacing by the light transmitting of the head light of (self) vehicle.If be evaluated as a single lighting unit when lighting unit that the group 138 of the lighting unit of at least two adjacent settings recognizes in the image of pick up camera 110 in analyzing and processing in the time determining the illumination of continuous track, crossing the wrong possibility that significantly reduces to identify continuous road illumination while for example thering is the above-described traffic zone that more high-risk is possible.
Fig. 5 illustrates another schematic diagram that comprises vehicle 100, the viewing area 120 of pick up camera 110 and the scene of street lamp 125 with pick up camera 110, wherein but the group 138 of not carrying out street lamp 125 now and summing up into lighting unit 125.This is by make decision: the second lighting unit 125b be arranged on be greater than distance threshold value 400 in the distance of the first lighting unit 125a.Therefore, in processing, the subsequent analysis of the image of pick up camera 110 also the first lighting unit 125a and the second lighting unit 125b are not considered as or are evaluated as a single lighting unit.In order to reduce wrong possibility, the analyzing and processing of the lighting unit 125 recognizing in the surveyed area 120 of pick up camera 110 does not require summing up of two street lamps, because described two street lamps are not summing up in distance; Therefore, can use the conventional analysis treatment characteristic of the image of pick up camera 110.
Fig. 6 illustrates another schematic diagram that comprises vehicle 100, the viewing area 120 of pick up camera and the scene of street lamp 125 with pick up camera 110, wherein carry out two groups 138 that street lamp 125 is summed up into lighting unit, but the 3rd lighting unit has not been grouped into the group of lighting unit.Such rule of classification is based on following hypothesis: only sum up be also arranged on predetermined to each other apart from lighting unit.If present the 3rd lighting unit 125c than maximum predetermined farther by distance threshold value, can or should not be grouped into the group 138 of lighting unit apart from the first lighting unit 125a.But after leaving from the surveyed area 120 of pick up camera 110 at the second lighting unit 125b, carry out re-executing of above-described mode, thereby by be positioned at definite to each other apart from lighting unit be grouped into a common group of lighting unit.This for example also causes, lighting unit is (in the diagram in Fig. 6, the second lighting unit 125b) be grouped in two groups of lighting units, the second group of lighting unit wherein not illustrating in Fig. 6 can comprise the second lighting unit 125b and the 3rd lighting unit 125c (at this, street lamp).This because of the second lighting unit 125b be arranged in be less than or be at least not more than Fig. 6 represent with Reference numeral 400b now and (another being shown in dotted line) distance threshold value of determining from the second lighting unit 125b towards the 3rd lighting unit 125c apart from the spacing of the 3rd lighting unit 125c.Therefore in Fig. 6, carried out the first street lamp 125a and the second street lamp 125b summing up in a common group 138, because being positioned at described (or first), the first lighting unit and the second lighting unit sum up distance 400, the 3rd lighting unit 125c is not grouped on the contrary in group 138, because only implement summing up of street lamp for the street lamp maximum, predetermined spacing 400 being positioned at apart from the first street lamp from the first street lamp.Other street lamps can be summed up subsequently in (or multiple) other groups.
Fig. 7 a illustrates a kind of diagram of lighting condition, and in described lighting condition, traffic zone is thrown light on by a two-way lamp 700.Described two-way lamp 700 is identified as two separation in the time identifying lighting unit lighting unit 125a by analyzing and processing algorithm is also be evaluated as with 125b and in further signal is processed the lighting unit separating.This can cause: may in the time recognizing unique such two-way lamp 700, carry out the illumination of continuous track, this is a mistake.But, by the use of the method that here proposes, an elder generation in (different visual angles of each lamp by pick up camera to two-way lamp 700 determines ground) these lamps from the ken of pick up camera, disappear and and then second in these lamps from the ken of pick up camera, disappear.Thus, according to method described above, each lamp of two-way lamp 700 can be grouped into lighting unit group and be evaluated as single lighting unit in the subsequent analysis of the image of pick up camera is processed.This causes reducing of in the signal subsequently of the image of pick up camera is processed wrong possibility.When described method also can be for two lamps, disappear, because the spacing between two lamps (distance and/or time) can be assumed to be and be less than threshold value (distance and/or time).
The scene of the traffic zone in the region of cross walk 710 (form at this with zebra crossing) has been shown in Fig. 7 b.In the region of such cross walk 710, in order to identify better the pedestrian who uses cross walk 710, conventionally by being set, multiple tight adjacent lighting unit 125a each other and 125b use brighter illumination.This may cause again the mistake in the time identifying the street lamp being so closely adjacent to each other, and it causes identifying the mistake in the illumination of continuous track.If use now method described above, also two lighting units can be summed up into one group of lighting unit at this, it is used as single lighting unit subsequently in the analyzing and processing of the image of pick up camera.
Traffic signal equipment 720 has been shown in Fig. 7 c, and it has highly different and apart from the spacing at edge, track different multiple optical signal 125a and 125b.This each lamp 125a by traffic signal equipment 720 and 125b be identified in the illumination of the continuous track of identification time there is mistake because may by traffic signal equipment each other very the lamp of near-earth setting be inferred as mistakenly the illumination of continuous track.If on the contrary the lamp of traffic signal equipment 710 is grouped into one group and for example in the time of the illumination of the continuous track of identification, this group lighting unit is interpreted as to single lighting unit, also can realize in this case significantly reducing of wrong possibility in image analysis processing subsequently.
Therefore, example shown in Figure 7 represents the analyzing and processing situation that some are severe, these analyzing and processing situations can solve by the present invention, the for example two-way lamp at crossing place has wherein been shown in Fig. 7 a, the cross walk of the multiple illumination with the street lamp in different distance has been shown in Fig. 7 b and the traffic signal equipment of the signal having on differing heights has been shown in Fig. 7 c, wherein traffic signal lamp are often identified as street lamp.
In the present invention disadvantageously, the identification of road illumination is no longer so looked forward to the prospect and is carried out continuously, but realizes the more behavior of reaction.The rate of false alarm that (finally) client's satisfaction tool is had a significant impact can significantly be improved by the present invention.
While rolling away from (appearance of tackling street lamp in described region is reacted immediately, to do not open distance light in illuminated region) in illuminated region because the longer reaction time do not recommend to sum up into one illumination bunch.
In certain distance after the first street lamp disappears, the street lamp the summed up distance that preferably do not reset is counted.Also can realize thus the street lamp being closely adjacent to each other of continuous road illumination is divided into at least two illuminations bunch and so implements city identification.
If sum up into an illumination bunch (being lighting unit group) at street lamp still there are other street lamps afterwards but has passed through and summed up distance in image, should be transformed into quickly in the region of continuous road illumination, because multiple street lamps are positioned at vehicle back.
Embodiment described and illustrated in the accompanying drawings is only exemplary selection.Different embodiment can be fully or in each characteristic aspect combination with one another.An embodiment also can supplement by the feature of another embodiment.
In addition, steps of a method in accordance with the invention can repeat and carry out with the order that is different from described order.
If an embodiment comprises that the "and/or" between First Characteristic and Second Characteristic connects, this understands as follows: both there is First Characteristic according to the embodiment of an embodiment and also there is Second Characteristic, and according to the embodiment of another embodiment or only there is First Characteristic or only there is Second Characteristic.
Claims (10)
1. one kind for asking for the lighting unit (125a by least two adjacent settings during the travelling of vehicle (100), the method (200) of the group (138) 125b) forming, wherein, described method (200) has following steps:
Identification (210) sensor (110) surveyed area (120) at least one first lighting unit (125a) and identify described the first lighting unit (125a) and from the surveyed area (120) of described sensor (110), leave subsequently;
Start to measure the distance that (220) described vehicle (100) travels after leaving from the surveyed area (120) of described sensor (110) at described the first lighting unit (125a) and/or start to measure the time that described vehicle (125a) travels after leaving from the surveyed area (120) of described sensor (110) at described the first lighting unit (125a);
When until described the second lighting unit (125b) leaves measured distance and a distance threshold value (400) from the surveyed area (120) of described sensor (110) while having predetermined the relation and/or when until described the second lighting unit (125b) leaves measured time and a time threshold from the surveyed area (120) of described sensor (110) while having predetermined the relation, described the first lighting unit (125a) and described the second lighting unit (125b) are divided into groups to (230) in the group being made up of the lighting unit of at least two adjacent settings (138), and/or,
In the time that current measured distance is greater than described distance threshold value (400) and/or in the time that the current measured time is greater than described time threshold, described the first lighting unit (125a) and the second lighting unit (125b) are not grouped in the group (138) being made up of the lighting unit of at least two adjacent settings.
2. method according to claim 1 (200), it is characterized in that, in the step of described grouping (230), in the time that described distance is less than described distance threshold value (400), described the first lighting unit (125a) and described the second lighting unit (125b) are grouped in the group (138) being made up of the lighting unit of at least two adjacent settings, and/or, in the step of described grouping (230), in the time that the described time is less than described time threshold, described the first lighting unit (125a) and described the second lighting unit (125b) are grouped in the group (138) being made up of the lighting unit of at least two adjacent settings.
3. according to the method described in any one of the preceding claims (200), it is characterized in that, in the step of described grouping (230), in the time that described distance is greater than described distance threshold value (400), described the first lighting unit (125a) and described the second lighting unit (125b) are not grouped in the group (138) being made up of the lighting unit of at least two adjacent settings, and/or, in the step of described grouping (230), in the time that the described time is greater than described time threshold, described the first lighting unit (125a) and described the second lighting unit (125b) are not grouped in the group (138) being made up of the lighting unit of at least two adjacent settings.
4. according to the method described in any one of the preceding claims (200), it is characterized in that, in the step of described identification (210), identify at least one the 3rd lighting unit (125c), wherein, in the step of described grouping (230), when leaving the surveyed area (120) of described vehicle (100) from described the first lighting unit (125a) from described sensor (110) until described the 3rd lighting unit (125c) leaves another travelled distance and described distance threshold value (400) from the surveyed area (120) of described sensor (110) while having predetermined the relation, described the 3rd lighting unit (125c) is grouped in the group (138) being made up of the lighting unit of at least two adjacent settings, and/or, wherein, in the step of described grouping (230), when leaving the surveyed area (120) of described vehicle (100) from described the first lighting unit (125a) from described sensor (110) until described the 3rd lighting unit (125c) leaves travelled time and described time threshold from the surveyed area (120) of described sensor (110) while having predetermined the relation, described the 3rd lighting unit (125c) is grouped in the group (138) being made up of the lighting unit of at least two adjacent settings.
5. according to the method described in any one of the preceding claims (200), it is characterized in that, in the step of described identification (210), identify the 3rd lighting unit (125c), wherein, in the step of described grouping (230), when another distance of travelling when leaving the surveyed area (120) of described vehicle (100) from described the first lighting unit (125a) from described sensor (110) and described distance threshold value (400) do not have predetermined the relation, described the 3rd lighting unit (125c) is not grouped in the group (138) being made up of the lighting unit of at least two adjacent settings, and/or, wherein, in the step of described grouping (230), when the time of travelling when leaving the surveyed area (120) of described vehicle (100) from described the first lighting unit (125a) from described sensor (110) and described time threshold do not have predetermined the relation, described the 3rd lighting unit (125c) is not grouped in the group (138) being made up of the lighting unit of at least two adjacent settings.
6. the method along the continuous track illumination in the track for the treatment of to be travelled by vehicle (100) for identification, wherein, described have following steps for the method for identifying described continuous track illumination:
Read the lighting unit of at least one single lighting unit (125) and one group of (138) at least two adjacent setting, it is by asking for according to the execution of the method described in any one of the preceding claims (200);
The lighting unit of (138) at least two adjacent settings of this group is evaluated as to a single lighting unit;
Identify described continuous track illumination in the case of using described single lighting unit and being be evaluated as the lighting unit of (138) at least two adjacent settings of this group of single lighting unit.
7. method according to claim 6, it is characterized in that, in the step of described identification, when described vehicle (100) is being be evaluated as predetermined the travelling when distance and/or predetermined running time of travelling between the position of lighting unit of (138) at least two adjacent settings of this group of single lighting unit and the position of described single lighting unit, identify the existence of continuous track illumination, and/or, in the step of described identification, when described vehicle (100) is in the position of described single lighting unit and be evaluated as predetermined the travelling when distance and/or predetermined running time of travelling between the position of lighting unit of (138) at least two adjacent settings of this group of single lighting unit, identify the existence of continuous track illumination.
8. for controlling the photoemissive method of at least one head light (160) of described vehicle (100), wherein, described method has following steps:
According to the described continuous track illumination of any one identification in claim 6 or 7;
Change the light transmitting of described at least one head light (160) of described vehicle (100) in response to the existence of the lighting unit of one group of (138) asked at least two adjacent setting, especially wherein, carry out the photoemissive change of described at least one head light (160) of described vehicle (100) in the following moment: the moment of the appearance of asking for of the lighting unit of described moment and (138) at least two adjacent settings of this group has predetermined relation.
9. an equipment (130), it has the enforcement of being configured to according to the unit of the step of the method described in any one in claim 1 to 8 (200).
10. there is a computer program for program code, for implementing according to the method (200) described in claim 1 to 8 any one when in the described program of the upper execution of equipment (130).
Applications Claiming Priority (3)
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| DE102011085689.7 | 2011-11-03 | ||
| DE102011085689A DE102011085689A1 (en) | 2011-11-03 | 2011-11-03 | Method and device for determining a group from at least two adjacently arranged lighting units while driving a vehicle |
| PCT/EP2012/067063 WO2013064283A1 (en) | 2011-11-03 | 2012-09-03 | Method and device for grouping lighting units |
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| CN103917411A true CN103917411A (en) | 2014-07-09 |
| CN103917411B CN103917411B (en) | 2016-12-14 |
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| CN201280053639.5A Active CN103917411B (en) | 2011-11-03 | 2012-09-03 | For the method and apparatus being grouped lighting unit |
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| EP (1) | EP2773531B1 (en) |
| JP (1) | JP5980937B2 (en) |
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| CN113196740A (en) * | 2018-12-18 | 2021-07-30 | 日立安斯泰莫株式会社 | Image processing apparatus |
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| DE102012020412B4 (en) * | 2012-10-18 | 2020-01-23 | Volkswagen Aktiengesellschaft | Method for recognizing a nighttime local drive of a vehicle |
| WO2015012749A1 (en) * | 2013-07-26 | 2015-01-29 | Telefonaktiebolaget L M Ericsson (Publ) | Method, alert control device, street light, computer program and computer program product for alerting traffic |
| DE102014213110A1 (en) | 2014-07-07 | 2016-01-07 | Robert Bosch Gmbh | Device and method for visualizing a vehicle environment of a vehicle |
| WO2017110935A1 (en) * | 2015-12-22 | 2017-06-29 | 株式会社小糸製作所 | Vehicle illumination device, vehicle, and illumination control system |
| US10529221B2 (en) | 2016-04-19 | 2020-01-07 | Navio International, Inc. | Modular approach for smart and customizable security solutions and other applications for a smart city |
| DE102016115076A1 (en) | 2016-08-15 | 2018-02-15 | Valeo Schalter Und Sensoren Gmbh | A method for detecting a vehicle lighting of a vehicle in an environment of a motor vehicle, control device, lighting device and motor vehicle |
| CN110843662B (en) * | 2019-11-06 | 2021-10-15 | 北京海纳川汽车部件股份有限公司 | Intersection vehicle lighting control method and device and vehicle |
| CN113260125B (en) * | 2021-03-27 | 2022-08-12 | 浙江中用市政园林设计股份有限公司 | Smart city street lamp control method and device, intelligent terminal and storage medium |
| DE102022001571B4 (en) | 2022-05-04 | 2023-08-17 | Mercedes-Benz Group AG | Procedure for recognizing illuminated road sections |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2014534114A (en) | 2014-12-18 |
| US9764681B2 (en) | 2017-09-19 |
| JP5980937B2 (en) | 2016-08-31 |
| CN103917411B (en) | 2016-12-14 |
| EP2773531B1 (en) | 2019-02-20 |
| DE102011085689A1 (en) | 2013-05-08 |
| WO2013064283A1 (en) | 2013-05-10 |
| EP2773531A1 (en) | 2014-09-10 |
| US20140369058A1 (en) | 2014-12-18 |
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